cv2.solvePnP 报错 求相机位姿

目录

报错信息及解决：

cv2.solvePnP 使用例子：

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报错信息及解决：

File "/shared_disk/users/lbg/project/human_4d/nlf_pose/render_demo_pkl2_cal.py", line 236, in success, rotation_vector, translation_vector = cv2.solvePnP(vertices, vertices2d, camera_matrix, dist_coeffs) cv2.error: OpenCV(4.10.0) /io/opencv/modules/calib3d/src/solvepnp.cpp:823: error: (-215:Assertion failed) ( (npoints >= 4) || (npoints == 3 && flags == SOLVEPNP_ITERATIVE && useExtrinsicGuess) || (npoints >= 3 && flags == SOLVEPNP_SQPNP) ) && npoints == std::max(ipoints.checkVector(2, CV_32F), ipoints.checkVector(2, CV_64F)) in function 'solvePnPGeneric'

解决方法：

把所有数据都astype(np.float32)

cv2.solvePnP 使用例子：

import cv2
import numpy as np

# 三维物体点在世界坐标系中的坐标
object_points = np.array([
    [0, 0, 0],
    [0, 1, 0],
    [1, 1, 0],
    [1, 0, 0]
]).astype(np.float32)

# 这些三维点在图像平面上对应的二维像素坐标
image_points = np.array([
    [100, 100],
    [100, 200],
    [200, 200],
    [200, 100]
], dtype=np.float64)

# 相机的内参矩阵
camera_matrix = np.array([
    [1000, 0, 320],
    [0, 1000, 240],
    [0, 0, 1]
], dtype=np.float64)

# 相机的畸变系数
dist_coeffs = np.zeros((5, 1), dtype=np.float32)

# 求解PnP问题
success, rotation_vector, translation_vector = cv2.solvePnP(object_points, image_points, camera_matrix, dist_coeffs)

if success:
    print("旋转向量:")
    print(rotation_vector)
    print("平移向量:")
    print(translation_vector)
else:
    print("求解失败")